This paper presents and analyzes a base framework for digital twins that can be applied to any process. The implementation of this framework is investigated through a case study on a cold spray cabin, in which a standalone Meta Quest 3 application retrieves the joint states of an ABB IRB 2400/16 robot directly from its controller through Robot Web Services over a local TCP/IP network, and uses them to animate a virtual robot in mixed reality. This allows the operator to monitor the robot motion from outside the cabin instead of relying on a pre-programmed trajectory, and lays the first brick of a future digital twin. During the communication experiment, 1481 HTTP/RWS requests were recorded over 65.58 s, with a success rate of 99.86% and an effective update rate of 22.55 Hz. The measured RWS latency had a mean value of 30.38 ms and a median value of 14.08 ms, while the estimated typical partial visualization latency was approximately 32.6 ms. Meta Quest 3 runtime measurements showed a frame rate close to 72 Hz with moderate CPU and GPU utilization. The results suggest that this first base implementation can be extended toward a complete closed-loop digital twin.

Robotic cold spray,Digital twin,Industrial robotics,Mixed reality,Robot monitoring